OpenRaiser/Intern-Atlas huggingface dataset:
Steering Flexible Linear Objects in Planar Environments by Two Robot Hands Using Euler's Elastica Solutions
Venue: arXiv cs.RO 2026
Year: 2026

The manipulation of flexible objects such as cables, wires and fresh food items by robot hands forms a special challenge in robot grasp mechanics. This paper considers the steering of flexible linear objects in planar environments by two robot hands. The flexible linear object, modeled as an elastic non-stretchable rod, is manipulated by varying the gripping endpoint positions while keeping equal endpoint tangents. The flexible linear object shape has a closed form solution in terms of the grasp endpoint positions and tangents, called Euler's elastica. This paper obtains the elastica solutions under the optimal control framework, then uses the elastica solutions to obtain closed-form criteria for non self-intersection, stability and obstacle avoidance of the flexible linear object. The new tools are incorporated into a planning scheme for steering flexible linear objects in planar environments populated by sparsely spaced obstacles. The scheme is fully implemented and demonstrated with detailed examples.
From Tables to Time: Extending TabPFN-v2 to Time Series Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Recent progress in foundation models has enabled strong zero-shot performance for time series forecasting. In this work, we show that such capabilities can also emerge from tabular foundation models. We introduce TabPFN-TS, a simple method that treats forecasting as a tabular regression problem by combining lightweight temporal featurization with the pretrained TabPFN-v2. This formulation requires no time-series-specific pretraining and naturally supports both univariate and covariate-informed forecasting. Despite its compact size (11M parameters), TabPFN-TS achieves state-of-the-art performance on covariate-informed forecasting and competitive accuracy on univariate forecasting across the GIFT-Eval and fev-bench benchmarks. We further provide controlled analyses examining how the model interprets temporal structure, how featurization choices affect accuracy, and how forecasts change under alternative tabular backbones. Together, our results demonstrate that tabular foundation models--when paired with suitable temporal features--offer an efficient and versatile alternative for forecasting, bridging tabular and time-series learning within a unified framework. Code is available at https://github.com/PriorLabs/tabpfn-time-series.
HistoryPalette: Supporting Exploration and Reuse of Past Alternatives in Image Generation and Editing
Venue: arXiv cs.HC 2026
Year: 2026

Creative tasks require creators to iteratively produce, select, and discard potentially useful ideas. Now, creativity tools include generative AI features (e.g., Photoshop Generative Fill) that increase the number of alternatives creators consider through rapid experiments with prompts and random generations. Creators use tedious manual systems for organizing their prior ideas by saving file versions or hiding layers, but they lack the support they want for reusing prior alternatives in personal work or in communication with others. We present HistoryPalette, a system that supports exploration and reuse of prior designs in generative image creation and editing. Using HistoryPalette, creators and their collaborators explore a "palette" of prior design alternatives organized by spatial position, topic category, and creation time. HistoryPalette enables creators to quickly preview and reuse their prior work. In creative professional and client collaborator user studies, participants generated and edited images by exploring and reusing past design alternatives with HistoryPalette.
HypeRL: Hypernetwork-Based Reinforcement Learning for Control of Parametrized Dynamical Systems
Venue: arXiv cs.LG 2026
Year: 2026

In this work, we devise a new, general-purpose reinforcement learning strategy for the optimal control of parametric dynamical systems. Such problems frequently arise in applied sciences and engineering and entail a significant complexity when control and/or state variables are distributed in high-dimensional space or depend on varying parameters. Traditional numerical methods, relying on either iterative minimization algorithms -- exploiting, e.g., the solution of the adjoint problem -- or dynamic programming -- also involving the solution of the Hamilton-Jacobi-Bellman (HJB) equation -- while reliable, often become computationally infeasible. In this paper, we propose HypeRL a deep reinforcement learning (DRL) framework to overcome the limitations shown by traditional methods. HypeRL aims at approximating the optimal control policy directly. Specifically, we employ an actor-critic DRL approach to learn an optimal feedback control strategy that can generalize across the range of variation of the parameters. To effectively learn such optimal control laws for different instances of the parameters, encoding the parameter information into the DRL policy and value function neural networks (NNs) is essential. HypeRL uses two additional NNs, called hypernetworks, to learn the weights and biases of the value function and the policy NNs. In this way, HypeRL effectively embeds the parametric information into the value function and policy. We validate the proposed approach on two parametric control problems, namely (I) a 1D parametric Kuramoto-Sivashinsky equation with in-domain control, and (ii) a navigation problem of particle dynamics in a parametric 2D gyre flow. We show that the knowledge of physical and task-dependent information and the encoding of this information via a hypernetwork, are essential ingredients for learning parameter-dependent control policies.
Global Compression Commander: Plug-and-Play Inference Acceleration for High-Resolution Large Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Large vision-language models (LVLMs) excel at visual understanding, but face efficiency challenges due to quadratic complexity in processing long multi-modal contexts. While token compression can reduce computational costs, existing approaches are designed for single-view LVLMs and fail to consider the unique multi-view characteristics of high-resolution LVLMs with dynamic cropping. Existing methods treat all tokens uniformly, but our analysis reveals that global thumbnails can naturally guide the compression of local crops by providing holistic context for informativeness evaluation. In this paper, we first analyze dynamic cropping strategy, revealing both the complementary nature between thumbnails and crops, and the distinctive characteristics across different crops. Based on our observations, we propose ``Global Compression Commander'' (\textit{i.e.}, \textbf{GlobalCom$^2$}), a novel plug-and-play token compression framework for HR-LVLMs. GlobalCom$^2$ leverages thumbnail as the ``commander'' to guide the compression of local crops, adaptively preserving informative details while eliminating redundancy. Extensive experiments show that GlobalCom$^2$ maintains over \textbf{90\%} performance while compressing \textbf{90\%} visual tokens, reducing FLOPs and peak memory to \textbf{9.1\%} and \textbf{60\%}.
Expressing One's Identity Online: Left-Right and cross EU-country variation in self-representation in social media
Venue: arXiv cs.SI 2026
Year: 2026

We examine how social media users from eight European Union (EU) member states express their socio-political identities, focusing on users' online self-presentation and group identity cues conveyed through bios. Our goal is to explore commonalities and differences in topics discussed in social media profiles, across Left-and Right-wing user groups, within and across EU countries. Through a novel approach we map how identity-related discourse varies by country and political orientation, revealing how group identity is expressed within the EU. We find that topics related to democracy, national way of life, and decentralization emerge as particularly divisive, showing considerable variation both within and between EU countries. A subset of topics, which includes education, environmentalism, sustainability, equality, freedom & human rights, and traditional morality, among others, clearly differentiate Left-from Right-leaning user groups. These partisan topics are relevant as they could be leveraged for mobilizing ideological groups and highlight Left-Right identitarian differences at the EU level. Finally, we show that our Left-Right identity similarity metrics reflect aspects of real-world political fragmentation, which are closely aligned to the perceptions of political conflict intensity by country, as measured by the 2022 PEW survey.
Evolutionary Optimization of Physics-Informed Neural Networks: Evo-PINN Frontiers and Opportunities
Venue: arXiv cs.NE 2026
Year: 2026

Deep learning models trained on finite data lack a complete understanding of the physical world. On the other hand, physics-informed neural networks (PINNs) are infused with such knowledge through the incorporation of mathematically expressible laws of nature into their training loss function. By complying with physical laws, PINNs provide advantages over purely data-driven models in limited-data regimes and present as a promising route towards Physical AI. This feature has propelled them to the forefront of scientific machine learning, a domain characterized by scarce and costly data. However, the vision of accurate physics-informed learning comes with significant challenges. This work examines PINNs in terms of model optimization and generalization, shedding light on the need for new algorithmic advances to overcome issues pertaining to the training speed, precision, and generalizability of today's PINN models. Of particular interest are gradient-free evolutionary algorithms (EAs) for optimizing the uniquely complex loss landscapes arising in PINN training. Methods synergizing gradient descent and EAs for discovering bespoke neural architectures and balancing multiple terms in physics-informed learning objectives are positioned as important avenues for future research. Another exciting track is to cast EAs as a meta-learner of generalizable PINN models. To substantiate these proposed avenues, we further highlight results from recent literature to showcase the early success of such approaches in addressing the aforementioned challenges in PINN optimization and generalization.
GRAPHMOE: Amplifying Cognitive Depth of Mixture-of-Experts Network via Introducing Self-Rethinking Mechanism
Venue: arXiv cs.CL 2026
Year: 2026

Traditional Mixture-of-Experts (MoE) networks benefit from utilizing multiple smaller expert models as opposed to a single large network. However, these experts typically operate independently, leaving a question open about whether interconnecting these models could enhance the performance of MoE networks. In response, we introduce GRAPHMOE, a novel method aimed at augmenting the cognitive depth of language models via a self-rethinking mechanism constructed on Pseudo GraphMoE networks. GRAPHMOE employs a recurrent routing strategy to simulate iterative thinking steps, thereby facilitating the flow of information among expert nodes. We implement the GRAPHMOE architecture using Low-Rank Adaptation techniques (LoRA) and conduct extensive experiments on various benchmark datasets. The experimental results reveal that GRAPHMOE outperforms other LoRA based models, achieving state-of-the-art (SOTA) performance. Additionally, this study explores a novel recurrent routing strategy that may inspire further advancements in enhancing the reasoning capabilities of language models.
RouteNet-Gauss: Hardware-Enhanced Network Modeling with Machine Learning
Venue: arXiv cs.NI 2026
Year: 2026

Network simulation is pivotal in network modeling, assisting with tasks ranging from capacity planning to performance estimation. Traditional approaches such as Discrete Event Simulation (DES) face limitations in terms of computational cost and accuracy. This paper introduces RouteNet-Gauss, a novel integration of a testbed network with a Machine Learning (ML) model to address these challenges. By using the testbed as a hardware accelerator, RouteNet-Gauss generates training datasets rapidly and simulates network scenarios with high fidelity to real-world conditions. Experimental results show that RouteNet-Gauss significantly reduces prediction errors by up to 95% and achieves a 488x speedup in inference time compared to state-of-the-art DES-based methods. RouteNet-Gauss's modular architecture is dynamically constructed based on the specific characteristics of the network scenario, such as topology and routing. This enables it to understand and generalize to different network configurations beyond those seen during training, including networks up to 10x larger. Additionally, it supports Temporal Aggregated Performance Estimation (TAPE), providing configurable temporal granularity and maintaining high accuracy in flow performance metrics. This approach shows promise in improving both simulation efficiency and accuracy, offering a valuable tool for network operators.
Taint Analysis for Graph APIs Focusing on Broken Access Control
Venue: arXiv cs.CR 2026
Year: 2026

We present the first systematic approach to static and dynamic taint analysis for Graph APIs focusing on broken access control. The approach comprises the following. We taint nodes of the Graph API if they represent data requiring specific privileges in order to be retrieved or manipulated, and identify API calls which are related to sources and sinks. Then, we statically analyze whether a tainted information flow between API source and sink calls occurs. To this end, we model the API calls using graph transformation rules. We subsequently use Critical Pair Analysis to automatically analyze potential dependencies between rules representing source calls and rules representing sink calls. We distinguish direct from indirect tainted information flow and argue under which conditions the Critical Pair Analysis is able to detect not only direct, but also indirect tainted flow. The static taint analysis (i) identifies flows that need to be further reviewed, since tainted nodes may be created by an API call and used or manipulated by another API call later without having the necessary privileges, and (ii) can be used to systematically design dynamic security tests for broken access control. The dynamic taint analysis checks if potential broken access control risks detected during the static taint analysis really occur. We apply the approach to a part of the GitHub GraphQL API. The application illustrates that our analysis supports the detection of two types of broken access control systematically: the case where users of the API may not be able to access or manipulate information, although they should be able to do so; and the case where users (or attackers) of the API may be able to access/manipulate information that they should not.
HAFix: History-Augmented Large Language Models for Bug Fixing
Venue: arXiv cs.SE 2026
Year: 2026

Recent studies have explored the performance of Large Language Models (LLMs) on various Software Engineering (SE) tasks, such as code generation and bug fixing. However, these approaches typically rely on the context data from the current snapshot of the project, overlooking the potential of rich historical data residing in real-world software repositories. Additionally, the impact of prompt styles on LLM performance for SE tasks within a historical context remains underexplored. To address these gaps, we propose HAFix, which stands for History-Augmented LLMs on Bug Fixing, a novel approach that leverages seven individual historical heuristics associated with bugs and aggregates the results of these heuristics (HAFix-Agg) to enhance LLMs' bug-fixing capabilities. To empirically evaluate HAFix, we employ three Code LLMs (i.e., Code Llama, DeepSeek-Coder and DeepSeek-Coder-V2-Lite models) on 51 single-line Python bugs from BugsInPy and 116 single-line Java bugs from Defects4J. Our evaluation demonstrates that multiple HAFix heuristics achieve statistically significant improvements compared to a non-historical baseline inspired by GitHub Copilot. Furthermore, the aggregated HAFix variant HAFix-Agg achieves substantial improvements by combining the complementary strengths of individual heuristics, increasing bug-fixing rates by an average of 45.05% on BugsInPy and 49.92% on Defects4J relative to the corresponding baseline. Moreover, within the context of historical heuristics, we identify the Instruction prompt style as the most effective template compared to the InstructionLabel and InstructionMask for LLMs in bug fixing. Finally, we evaluate the cost of HAFix in terms of inference time and token usage, and provide a pragmatic trade-off analysis of the cost and bug-fixing performance, offering valuable insights for the practical deployment of our approach in real-world scenarios.
Neural Honeytrace: Plug&Play Watermarking Framework against Model Extraction Attacks
Venue: arXiv cs.CR 2026
Year: 2026

Triggerable watermarking enables model owners to assert ownership against model extraction attacks. However, most existing approaches require additional training, which limits post-deployment flexibility, and the lack of clear theoretical foundations makes them vulnerable to adaptive attacks. In this paper, we propose Neural Honeytrace, a plug-and-play watermarking framework that operates without retraining. We redefine the watermark transmission mechanism from an information perspective, designing a training-free multi-step transmission strategy that leverages the long-tailed effect of backdoor learning to achieve efficient and robust watermark embedding. Extensive experiments demonstrate that Neural Honeytrace reduces the average number of queries required for a worst-case t-test-based ownership verification to as low as $2\%$ of existing methods, while incurring zero training cost.
Neural Algorithmic Reasoning for Hypergraphs with Looped Transformers
Venue: arXiv cs.LG 2026
Year: 2026

Looped Transformers have shown exceptional neural algorithmic reasoning capability in simulating traditional graph algorithms, but their application to more complex structures like hypergraphs remains underexplored. Hypergraphs generalize graphs by modeling higher-order relationships among multiple entities, enabling richer representations but introducing significant computational challenges. In this work, we extend the Loop Transformer architecture's neural algorithmic reasoning capability to simulate hypergraph algorithms, addressing the gap between neural networks and combinatorial optimization over hypergraphs. Specifically, we propose a novel degradation mechanism for reducing hypergraphs to graph representations, enabling the simulation of graph-based algorithms, such as Dijkstra's shortest path. Furthermore, we introduce a hyperedge-aware encoding scheme to simulate hypergraph-specific algorithms, exemplified by Helly's algorithm. We establish theoretical guarantees for these simulations, demonstrating the feasibility of processing high-dimensional and combinatorial data using Loop Transformers. This work highlights the potential of Transformers as general-purpose algorithmic solvers for structured data.
Formal Analysis of the Contract Automata Runtime Environment with Uppaal: Modelling, Verification and Testing
Venue: arXiv cs.SE 2026
Year: 2026

Recently, a distributed middleware application called contract automata runtime environment (CARE) has been introduced to realise service applications specified using a dialect of finite-state automata. In this paper, we detail the formal modelling, verification and testing of CARE. We provide a formalisation as a network of stochastic timed automata. The model is verified against the desired properties with the tool Uppaal, utilising exhaustive and statistical model checking techniques. Abstract tests are generated from the Uppaal models that are concretised for testing CARE. This research emphasises the advantages of employing formal modelling, verification and testing processes to enhance the dependability of an open-source distributed application. We discuss the methodology used for modelling the application and generating concrete tests from the abstract model, addressing the issues that have been identified and fixed.
Data Matters Most: Auditing Social Bias in Contrastive Vision Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Vision-language models (VLMs) deliver strong zero-shot recognition but frequently inherit social biases from their training data. We systematically disentangle three design factors -- model size, training-data scale, and training-data source -- by comparing CLIP and OpenCLIP, two models that share an identical contrastive objective yet differ in encoder width and in the image-text corpora on which they are pre-trained (400M proprietary pairs vs. 400M/2B LAION). Across balanced face-analysis benchmarks, enlarging the encoder reduces gender skew in CLIP but amplifies both gender and racial skew in OpenCLIP; increasing the LAION corpus from 400M to 2B further increases OpenCLIP bias. At matched model and data budgets, substituting proprietary data with LAION improves gender fairness while increasing racial skew, underscoring data source as the primary driver of bias patterns. We also evaluate three post-hoc, test-time debiasing strategies -- Bias Prompts, Prompt Array, and SANER. Debiasing reduces but does not eliminate harm, and its effectiveness is source- and size-dependent: Bias Prompts most effectively reduce gender skew in CLIP at smaller model sizes, whereas Prompt Array and SANER more reliably reduce racial skew in OpenCLIP; scaling LAION reconfigures which method is most fair. Taken together, these findings challenge the assumption that bigger models or datasets are automatically fairer and foreground training data source as the key determinant of both bias and mitigation efficacy. We release code and evaluation scripts to enable transparent, reproducible auditing of future VLMs.
CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph
Venue: arXiv cs.RO 2026
Year: 2026

Mobile exploration is a longstanding challenge in robotics, yet current methods primarily focus on active perception instead of active interaction, limiting the robot's ability to interact with and fully explore its environment. Existing robotic exploration approaches via active interaction are often restricted to tabletop scenes, neglecting the unique challenges posed by mobile exploration, such as large exploration spaces, complex action spaces, and diverse object relations. In this work, we introduce a 3D relational object graph that encodes diverse object relations and enables exploration through active interaction. We develop a system based on this representation and evaluate it across diverse scenes. Our qualitative and quantitative results demonstrate the system's effectiveness and generalization across object instances, relations, and scenes, outperforming methods solely relying on vision-language models (VLMs).